%
%   MatLab script for parameter initialization of the three trailer chain
%   simulation. Actuator 1 is completely lost.
%
% Jose Paulo V. S. da Cunha
%
% Rio de Janeiro, January 10, 2003.
%

%
%                                PLANT PARAMETERS:
%

% Nominal inertia matrix (kg):

M_nominal = diag([1 2 0.5]);

% Actual inertia matrix (kg):

M = M_nominal;

% Nominal linear dampers coefficients (Ns/m):

B31 = 1;

B23 = 1;

% Failure coefficients matrix (Actuator 1 is completely lost):

F = diag([0 1 1]);

% Precompensation matrix:

Sp = eye(2,2);

% Reference model matrix:

Am = [-4 0; 0 -4];

% State filters state space form:

PHI = [-10 0;0 -10];

GAMMA = [1 0; 0 1];

% Inverse of the inertia matrix:

M1 = M^-1;

% S Matrix:

S = eye(2,3)-[zeros(2,1) eye(2,2)];

% Matrices of the linear part of the plant:

Ap = M1*[-B31 0 B31; 0 -B23 B23; B31 B23 -(B31+B23)];

Bp = M1*[1 0; 0 1; 0 0]*S*F*(S');

Cp = [1 0 0; 0 1 0];

% Controller coefficients:

theta_nomT = [ 8.3655914 -2.3655914  41.096774  21.017921 -6.7885305 -4.7562724 ;
               8.4021505 -2.4021505  41.206452  20.78638  -5.8007168 -7.065233 ];

theta4_nomT = [ 0.6666667    0.6666667 ;
                0.3333333    1.3333333 ];

kx = 0.96;

varphi = 2.1;

gamma_x = 1.36;


gamma_phi = 3.98;

c1 = 110;

c2 = 3.2;

c3 = 0;

c4 = 4.8;

c5 = 21;

c6 = 2.7;

c7 = 2.5;

c8 = 4.5;

c9 = 23;

c10 = 477;

c11 = 7.2;

delta = 0.1;

tau = 0.01;